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https://github.com/moveit/moveit_task_constructor.git
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Merge pull request #525 from Abishalini/pr-get-error-msg-from-planners
Propagate errors from planners.
This commit is contained in:
commit
8a89a9762b
@ -63,11 +63,11 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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MoveItErrorCode plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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MoveItErrorCode plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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@ -58,14 +58,16 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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MoveItErrorCode
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plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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MoveItErrorCode
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plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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std::string getPlannerId() const override { return std::string("JointInterpolationPlanner"); }
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};
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@ -63,14 +63,16 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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MoveItErrorCode
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plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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MoveItErrorCode
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plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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};
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} // namespace solvers
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} // namespace task_constructor
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@ -124,9 +124,9 @@ public:
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* \param [in] timeout Maximum planning timeout for an individual stage that is using the pipeline planner in seconds
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* \param [in] result Reference to the location where the created trajectory is stored if planning is successful
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* \param [in] path_constraints Path contraints for the planning problem
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* \return true If the solver found a successful solution for the given planning problem
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* \return MoveItErrorCode - Return MoveItErrorCodes::SUCCESS if solver found a successful solution. Otherwise, return an appropriate error type and message explaining why it failed.
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*/
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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MoveItErrorCode plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const core::JointModelGroup* joint_model_group, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) override;
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@ -140,9 +140,9 @@ public:
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* \param [in] timeout Maximum planning timeout for an individual stage that is using the pipeline planner in seconds
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* \param [in] result Reference to the location where the created trajectory is stored if planning is successful
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* \param [in] path_constraints Path contraints for the planning problem
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* \return true If the solver found a successful solution for the given planning problem
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* \return MoveItErrorCode - Return MoveItErrorCodes::SUCCESS if solver found a successful solution. Otherwise, return an appropriate error type and message explaining why it failed.
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*/
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bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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MoveItErrorCode plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* joint_model_group, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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@ -170,7 +170,7 @@ protected:
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* problem
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* \return true If the solver found a successful solution for the given planning problem
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*/
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bool plan(const planning_scene::PlanningSceneConstPtr& planning_scene,
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MoveItErrorCode plan(const planning_scene::PlanningSceneConstPtr& planning_scene,
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const moveit::core::JointModelGroup* joint_model_group,
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const moveit_msgs::msg::Constraints& goal_constraints, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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@ -41,6 +41,7 @@
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#include <moveit/macros/class_forward.h>
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#include <moveit_msgs/msg/constraints.hpp>
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#include <moveit/task_constructor/properties.h>
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#include <moveit/utils/moveit_error_code.h>
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#include <Eigen/Geometry>
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namespace planning_scene {
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@ -64,6 +65,9 @@ namespace moveit {
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namespace task_constructor {
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namespace solvers {
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using MoveItErrorCode = moveit::core::MoveItErrorCode;
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using MoveItErrorCodes = moveit_msgs::msg::MoveItErrorCodes;
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MOVEIT_CLASS_FORWARD(PlannerInterface);
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class PlannerInterface
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{
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@ -88,17 +92,17 @@ public:
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virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0;
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/// plan trajectory between to robot states
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virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) = 0;
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virtual MoveItErrorCode
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plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) = 0;
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/// plan trajectory from current robot state to Cartesian target, such that pose(link)*offset == target
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virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) = 0;
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virtual MoveItErrorCode
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plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints = moveit_msgs::msg::Constraints()) = 0;
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// get name of the planner
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virtual std::string getPlannerId() const = 0;
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@ -63,14 +63,15 @@ CartesianPath::CartesianPath() {
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void CartesianPath::init(const core::RobotModelConstPtr& /*robot_model*/) {}
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bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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MoveItErrorCode CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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const moveit::core::LinkModel* link = jmg->getOnlyOneEndEffectorTip();
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if (!link) {
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RCLCPP_WARN_STREAM(LOGGER, "no unique tip for joint model group: " << jmg->getName());
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return false;
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "no unique tip for joint model group: " + jmg->getName());
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}
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// reach pose of forward kinematics
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@ -78,11 +79,11 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
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std::min(timeout, properties().get<double>("timeout")), result, path_constraints);
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}
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bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double /*timeout*/,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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MoveItErrorCode CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
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const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
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const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double /*timeout*/, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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const auto& props = properties();
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planning_scene::PlanningScenePtr sandbox_scene = from->diff();
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@ -114,7 +115,11 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
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timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
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props.get<double>("max_acceleration_scaling_factor"));
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return achieved_fraction >= props.get<double>("min_fraction");
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if (achieved_fraction < props.get<double>("min_fraction")) {
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return MoveItErrorCode(MoveItErrorCodes::FAILURE,
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"Min fraction not met. Achieved fraction : " + std::to_string(achieved_fraction));
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}
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return MoveItErrorCode(MoveItErrorCodes::SUCCESS);
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}
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} // namespace solvers
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} // namespace task_constructor
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@ -59,11 +59,11 @@ JointInterpolationPlanner::JointInterpolationPlanner() {
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void JointInterpolationPlanner::init(const core::RobotModelConstPtr& /*robot_model*/) {}
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bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double /*timeout*/,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& /*path_constraints*/) {
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MoveItErrorCode JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double /*timeout*/,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& /*path_constraints*/) {
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const auto& props = properties();
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// Get maximum joint distance
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@ -78,7 +78,7 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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// add first point
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result->addSuffixWayPoint(from->getCurrentState(), 0.0);
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if (from->isStateColliding(from_state, jmg->getName()) || !from_state.satisfiesBounds(jmg))
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return false;
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "Start state in collision or not within bounds");
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moveit::core::RobotState waypoint(from_state);
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double delta = d < 1e-6 ? 1.0 : props.get<double>("max_step") / d;
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@ -87,13 +87,14 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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result->addSuffixWayPoint(waypoint, t);
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if (from->isStateColliding(waypoint, jmg->getName()) || !waypoint.satisfiesBounds(jmg))
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return false;
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return MoveItErrorCode(MoveItErrorCodes::FAILURE,
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"One of the waypoint's state is in collision or not within bounds");
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}
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// add goal point
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result->addSuffixWayPoint(to_state, 1.0);
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if (from->isStateColliding(to_state, jmg->getName()) || !to_state.satisfiesBounds(jmg))
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return false;
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "Goal state in collision or not within bounds");
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auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
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timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
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@ -113,14 +114,15 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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}
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}
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return true;
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return MoveItErrorCode(MoveItErrorCodes::SUCCESS);
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}
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bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
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const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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MoveItErrorCode JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
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const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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timeout = std::min(timeout, properties().get<double>("timeout"));
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const auto deadline = std::chrono::steady_clock::now() + std::chrono::duration<double, std::ratio<1>>(timeout);
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@ -137,15 +139,14 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
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} };
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if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) {
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// TODO(v4hn): planners need a way to add feedback to failing plans
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// in case of an invalid solution feedback should include unwanted collisions or violated constraints
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RCLCPP_WARN(LOGGER, "IK failed for pose target");
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return false;
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "IK failed for pose target.");
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}
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to->getCurrentStateNonConst().update();
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if (std::chrono::steady_clock::now() >= deadline)
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return false;
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if (std::chrono::steady_clock::now() >= deadline) {
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "Timed out.");
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}
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return plan(from, to, jmg, timeout, result, path_constraints);
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}
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@ -49,49 +49,50 @@ void MultiPlanner::init(const core::RobotModelConstPtr& robot_model) {
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p->init(robot_model);
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}
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bool MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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MoveItErrorCode MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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double remaining_time = std::min(timeout, properties().get<double>("timeout"));
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auto start_time = std::chrono::steady_clock::now();
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for (const auto& p : *this) {
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if (remaining_time < 0)
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return false; // timeout
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "Timeout"); // timeout
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if (result)
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result->clear();
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if (p->plan(from, to, jmg, remaining_time, result, path_constraints))
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return true;
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return MoveItErrorCode(MoveItErrorCodes::SUCCESS);
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auto now = std::chrono::steady_clock::now();
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remaining_time -= std::chrono::duration<double>(now - start_time).count();
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start_time = now;
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}
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return false;
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return MoveItErrorCode(MoveItErrorCodes::FAILURE);
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}
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bool MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
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const moveit::core::JointModelGroup* jmg, double timeout,
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robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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MoveItErrorCode MultiPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
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const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::msg::Constraints& path_constraints) {
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double remaining_time = std::min(timeout, properties().get<double>("timeout"));
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auto start_time = std::chrono::steady_clock::now();
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for (const auto& p : *this) {
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if (remaining_time < 0)
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return false; // timeout
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "Timeout"); // timeout
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if (result)
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result->clear();
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if (p->plan(from, link, offset, target, jmg, remaining_time, result, path_constraints))
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return true;
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return MoveItErrorCode(MoveItErrorCodes::SUCCESS);
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auto now = std::chrono::steady_clock::now();
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||||
remaining_time -= std::chrono::duration<double>(now - start_time).count();
|
||||
start_time = now;
|
||||
}
|
||||
return false;
|
||||
return MoveItErrorCode(MoveItErrorCodes::FAILURE);
|
||||
}
|
||||
} // namespace solvers
|
||||
} // namespace task_constructor
|
||||
|
||||
@ -140,22 +140,23 @@ void PipelinePlanner::init(const core::RobotModelConstPtr& robot_model) {
|
||||
}
|
||||
}
|
||||
|
||||
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
const planning_scene::PlanningSceneConstPtr& to,
|
||||
const moveit::core::JointModelGroup* joint_model_group, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::msg::Constraints& path_constraints) {
|
||||
MoveItErrorCode PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
const planning_scene::PlanningSceneConstPtr& to,
|
||||
const moveit::core::JointModelGroup* joint_model_group, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::msg::Constraints& path_constraints) {
|
||||
// Construct goal constraints from the goal planning scene
|
||||
const auto goal_constraints = kinematic_constraints::constructGoalConstraints(
|
||||
to->getCurrentState(), joint_model_group, properties().get<double>("goal_joint_tolerance"));
|
||||
return plan(from, joint_model_group, goal_constraints, timeout, result, path_constraints);
|
||||
}
|
||||
|
||||
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
|
||||
const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target_eigen,
|
||||
const moveit::core::JointModelGroup* joint_model_group, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::msg::Constraints& path_constraints) {
|
||||
MoveItErrorCode PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
const moveit::core::LinkModel& link, const Eigen::Isometry3d& offset,
|
||||
const Eigen::Isometry3d& target_eigen,
|
||||
const moveit::core::JointModelGroup* joint_model_group, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::msg::Constraints& path_constraints) {
|
||||
last_successful_planner_.clear();
|
||||
|
||||
// Construct a Cartesian target pose from the given target transform and offset
|
||||
@ -170,11 +171,11 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
|
||||
return plan(from, joint_model_group, goal_constraints, timeout, result, path_constraints);
|
||||
}
|
||||
|
||||
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& planning_scene,
|
||||
const moveit::core::JointModelGroup* joint_model_group,
|
||||
const moveit_msgs::msg::Constraints& goal_constraints, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::msg::Constraints& path_constraints) {
|
||||
MoveItErrorCode PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& planning_scene,
|
||||
const moveit::core::JointModelGroup* joint_model_group,
|
||||
const moveit_msgs::msg::Constraints& goal_constraints, double timeout,
|
||||
robot_trajectory::RobotTrajectoryPtr& result,
|
||||
const moveit_msgs::msg::Constraints& path_constraints) {
|
||||
// Create a request for every planning pipeline that should run in parallel
|
||||
std::vector<moveit_msgs::msg::MotionPlanRequest> requests;
|
||||
requests.reserve(pipeline_id_planner_id_map_.size());
|
||||
@ -222,10 +223,14 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& planning
|
||||
// Choose the first solution trajectory as response
|
||||
result = solution.trajectory;
|
||||
last_successful_planner_ = solution.planner_id;
|
||||
return bool(result);
|
||||
if (!bool(result)) // If the plan was not a success
|
||||
{
|
||||
return MoveItErrorCode(solution.error_code.val, solution.error_code.message, solution.error_code.source);
|
||||
}
|
||||
return MoveItErrorCode(MoveItErrorCodes::SUCCESS);
|
||||
}
|
||||
}
|
||||
return false;
|
||||
return MoveItErrorCode(MoveItErrorCodes::FAILURE, "No solutions generated from Pipeline Planner");
|
||||
}
|
||||
std::string PipelinePlanner::getPlannerId() const {
|
||||
return last_successful_planner_.empty() ? std::string("Unknown") : last_successful_planner_;
|
||||
|
||||
@ -148,6 +148,7 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
|
||||
intermediate_scenes.push_back(start);
|
||||
|
||||
bool success = false;
|
||||
std::string error_message = "";
|
||||
std::vector<double> positions;
|
||||
for (const GroupPlannerVector::value_type& pair : planner_) {
|
||||
// set intermediate goal state
|
||||
@ -160,11 +161,17 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
|
||||
intermediate_scenes.push_back(end);
|
||||
|
||||
robot_trajectory::RobotTrajectoryPtr trajectory;
|
||||
success = pair.second->plan(start, end, jmg, timeout, trajectory, path_constraints);
|
||||
const auto planner_solution_status = pair.second->plan(start, end, jmg, timeout, trajectory, path_constraints);
|
||||
if (bool(planner_solution_status)) {
|
||||
success = true;
|
||||
}
|
||||
|
||||
trajectory_planner_vector.push_back(PlannerIdTrajectoryPair({ pair.second->getPlannerId(), trajectory }));
|
||||
|
||||
if (!success)
|
||||
if (!success) {
|
||||
error_message = planner_solution_status.message;
|
||||
break;
|
||||
}
|
||||
|
||||
// continue from reached state
|
||||
start = end;
|
||||
@ -176,7 +183,7 @@ void Connect::compute(const InterfaceState& from, const InterfaceState& to) {
|
||||
if (!solution) // success == false or merging failed: store sequentially
|
||||
solution = makeSequential(trajectory_planner_vector, intermediate_scenes, from, to);
|
||||
if (!success) // error during sequential planning
|
||||
solution->markAsFailure();
|
||||
solution->markAsFailure(error_message);
|
||||
|
||||
connect(from, to, solution);
|
||||
}
|
||||
|
||||
@ -195,10 +195,18 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
|
||||
|
||||
robot_trajectory::RobotTrajectoryPtr robot_trajectory;
|
||||
bool success = false;
|
||||
std::string error_message = "";
|
||||
|
||||
if (getJointStateFromOffset(direction, dir, jmg, scene->getCurrentStateNonConst())) {
|
||||
// plan to joint-space target
|
||||
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
|
||||
const auto planner_solution_status =
|
||||
planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
|
||||
if (bool(planner_solution_status)) {
|
||||
success = true;
|
||||
}
|
||||
if (!success) {
|
||||
error_message = planner_solution_status.message;
|
||||
}
|
||||
solution.setPlannerId(planner_->getPlannerId());
|
||||
} else {
|
||||
// Cartesian targets require an IK reference frame
|
||||
@ -286,8 +294,14 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
|
||||
// offset from link to ik_frame
|
||||
const Eigen::Isometry3d& offset = scene->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world;
|
||||
|
||||
success =
|
||||
const auto planner_solution_status =
|
||||
planner_->plan(state.scene(), *link, offset, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
|
||||
if (bool(planner_solution_status)) {
|
||||
success = true;
|
||||
}
|
||||
if (!success) {
|
||||
error_message = planner_solution_status.message;
|
||||
}
|
||||
solution.setPlannerId(planner_->getPlannerId());
|
||||
|
||||
if (robot_trajectory) { // the following requires a robot_trajectory returned from planning
|
||||
@ -331,8 +345,11 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
|
||||
robot_trajectory->reverse();
|
||||
solution.setTrajectory(robot_trajectory);
|
||||
|
||||
if (!success)
|
||||
if (!success && solution.comment().empty()) {
|
||||
solution.markAsFailure(error_message);
|
||||
} else if (!success) {
|
||||
solution.markAsFailure();
|
||||
}
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
||||
@ -205,10 +205,18 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
|
||||
const auto& path_constraints = props.get<moveit_msgs::msg::Constraints>("path_constraints");
|
||||
robot_trajectory::RobotTrajectoryPtr robot_trajectory;
|
||||
bool success = false;
|
||||
std::string error_message = "";
|
||||
|
||||
if (getJointStateGoal(goal, jmg, scene->getCurrentStateNonConst())) {
|
||||
// plan to joint-space target
|
||||
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
|
||||
const auto planner_solution_status =
|
||||
planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
|
||||
if (bool(planner_solution_status)) {
|
||||
success = true;
|
||||
}
|
||||
if (!success) {
|
||||
error_message = planner_solution_status.message;
|
||||
}
|
||||
solution.setPlannerId(planner_->getPlannerId());
|
||||
} else { // Cartesian goal
|
||||
// Where to go?
|
||||
@ -241,7 +249,14 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
|
||||
Eigen::Isometry3d offset = scene->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world;
|
||||
|
||||
// plan to Cartesian target
|
||||
success = planner_->plan(state.scene(), *link, offset, target, jmg, timeout, robot_trajectory, path_constraints);
|
||||
const auto planner_solution_status =
|
||||
planner_->plan(state.scene(), *link, offset, target, jmg, timeout, robot_trajectory, path_constraints);
|
||||
if (bool(planner_solution_status)) {
|
||||
success = true;
|
||||
}
|
||||
if (!success) {
|
||||
error_message = planner_solution_status.message;
|
||||
}
|
||||
solution.setPlannerId(planner_->getPlannerId());
|
||||
}
|
||||
|
||||
@ -258,7 +273,7 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
|
||||
solution.setTrajectory(robot_trajectory);
|
||||
|
||||
if (!success)
|
||||
solution.markAsFailure();
|
||||
solution.markAsFailure(error_message);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user